The Simulator class holds an instance of the AmrarXPhysicsWorld and communicates to ArmarX. More...

#include <ArmarXSimulation/components/Simulator/Simulator.h>

Inheritance diagram for Simulator:

Public Member Functions
void	activateObject (const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJoints (const std::string &robotName, const NameValueMap &angles, const NameValueMap &velocities, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJointsPos (const std::string &robotName, const NameValueMap &angles, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJointsTorque (const std::string &robotName, const NameValueMap &torques, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJointsVel (const std::string &robotName, const NameValueMap &velocities, const Ice::Current &c=Ice::emptyCurrent) override

void	addBox (float width, float height, float depth, float massKG, const DrawColor &color, const std::string &instanceName, const PoseBasePtr &globalPose, bool isStatic=false, const Ice::Current &c=Ice::emptyCurrent) override

void	addObject (const memoryx::ObjectClassBasePtr &objectClassBase, const std::string &instanceName, const PoseBasePtr &globalPose, bool isStatic=false, const Ice::Current &c=Ice::emptyCurrent) override

void	addObjectFromFile (const armarx::data::PackagePath &packagePath, const std::string &instanceName, const PoseBasePtr &globalPose, bool isStatic=false, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addRobot (const std::string &filename, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addRobotFromFile (const armarx::data::PackagePath &packagePath, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addScaledRobot (const std::string &filename, float scale, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addScaledRobotName (const std::string &instanceName, const std::string &filename, float scale, const Ice::Current &c=Ice::emptyCurrent) override

bool	addSnapshot (memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx)

void	applyForceObject (const std::string &objectName, const Vector3BasePtr &force, const Ice::Current &c=Ice::emptyCurrent) override

void	applyForceRobotNode (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &force, const Ice::Current &c=Ice::emptyCurrent) override

void	applyTorqueObject (const std::string &objectName, const Vector3BasePtr &torque, const Ice::Current &c=Ice::emptyCurrent) override

void	applyTorqueRobotNode (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &torque, const Ice::Current &c=Ice::emptyCurrent) override

PropertyDefinitionsPtr	createPropertyDefinitions () override

ContactInfoSequence	getContacts (const Ice::Current &c=Ice::emptyCurrent) override
	Returns a list of all contacts. Note that you must call updateContacts() first to enable contacts handling. More...

std::string	getDefaultName () const override
	Retrieve default name of component. More...

DistanceInfo	getDistance (const std::string &robotName, const std::string &robotNodeName, const std::string &worldObjectName, const Ice::Current &c=Ice::emptyCurrent) override

int	getFixedTimeStepMS (const Ice::Current &c=Ice::emptyCurrent) override

ObjectClassInformationSequence	getObjectClassPoses (const std::string &robotName, const std::string &frameName, const std::string &className, const Ice::Current &c=Ice::emptyCurrent) override

PoseBasePtr	getObjectPose (const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override

Vector3BasePtr	getRobotAngularVelocity (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

ForceTorqueDataSeq	getRobotForceTorqueSensors (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointAngle (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

NameValueMap	getRobotJointAngles (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointLimitHi (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointLimitLo (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

NameValueMap	getRobotJointTorques (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

NameValueMap	getRobotJointVelocities (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointVelocity (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

Vector3BasePtr	getRobotLinearVelocity (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotMass (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotMaxTorque (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

Ice::StringSeq	getRobotNames (const Ice::Current &) override

DistanceInfo	getRobotNodeDistance (const std::string &robotName, const std::string &robotNodeName1, const std::string &robotNodeName2, const Ice::Current &c=Ice::emptyCurrent) override

PoseBasePtr	getRobotNodePose (const std::string &robotName, const std::string &robotNodeName, const Ice::Current &c=Ice::emptyCurrent) override

PoseBasePtr	getRobotPose (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

SimulatedRobotState	getRobotState (const std::string &robotName, const Ice::Current &) override

SceneVisuData	getScene (const Ice::Current &c=Ice::emptyCurrent) override

float	getSimTime (const Ice::Current &c=Ice::emptyCurrent) override

SimulatorInformation	getSimulatorInformation (const ::Ice::Current &=Ice::emptyCurrent) override

Ice::Float	getSpeed (const Ice::Current &c=Ice::emptyCurrent) override

Ice::Int	getStepTimeMS (const ::Ice::Current &=Ice::emptyCurrent) override

Ice::Long	getTime (const Ice::Current &c=Ice::emptyCurrent) override

bool	hasObject (const std::string &instanceName, const Ice::Current &c=Ice::emptyCurrent) override

bool	hasRobot (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

bool	hasRobotNode (const std::string &robotName, const std::string &robotNodeName, const Ice::Current &c=Ice::emptyCurrent) override

bool	isRunning (const Ice::Current &c=Ice::emptyCurrent) override

bool	loadAgentsFromSnapshot (memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx)

void	objectGrasped (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override
	create a joint More...

void	objectReleased (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override
	remove a joint More...

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onExitComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

void	pause (const Ice::Current &c=Ice::emptyCurrent) override

void	reInitialize (const Ice::Current &c=Ice::emptyCurrent) override
	reInitialize Re-initializes the scene. Removes all robots and objects (and, in case the scene was loaded via a MemoryX snapshot, the working memory is cleared) Then, the setup is re-loaded similar to the startup procedure. More...

void	removeObject (const std::string &instanceName, const Ice::Current &) override

bool	removeRobot (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent)

void	run () override

void	setObjectPose (const std::string &objectName, const PoseBasePtr &globalPose, const Ice::Current &c=Ice::emptyCurrent) override

void	setObjectSimulationType (const std::string &objectName, armarx::SimulationType type, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotAngularVelocity (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotAngularVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotLinearVelocity (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotLinearVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotMaxTorque (const std::string &robotName, const std::string &nodeName, float maxTorque, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotPose (const std::string &robotName, const PoseBasePtr &globalPose, const Ice::Current &c=Ice::emptyCurrent) override

void	setSpeed (Ice::Float newSpeed, const Ice::Current &c=Ice::emptyCurrent) override
	setSpeed sets the scaling factor for the speed of passing of time e.g. More...

void	showContacts (bool enable, const std::string &layerName, const Ice::Current &c=Ice::emptyCurrent) override

	Simulator ()

void	start (const Ice::Current &c=Ice::emptyCurrent) override

void	step (const Ice::Current &c=Ice::emptyCurrent) override

void	stop (const Ice::Current &c=Ice::emptyCurrent) override

void	updateContacts (bool enable, const Ice::Current &c=Ice::emptyCurrent) override
	Enables the handling of contacts. If you intend to use getContacts(), call this method with enabled = true first. More...

	~Simulator () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
std::string	addRobot (std::string robotInstanceName, const std::string &robFileGlobal, Eigen::Matrix4f gp, const std::string &robFile, double pid_p=10.0, double pid_i=0.0, double pid_d=0.0, bool isStatic=false, float scaling=1, bool colModel=false, std::map< std::string, float > initConfig=std::map< std::string, float >(), bool selfCollisions=false)
	Returns the name. On failure an empty string is returned. More...

void	initializeData ()

void	reportDataLoop ()

void	reportVisuLoop ()

memoryx::GridFileManagerPtr	requestFileManager ()

void	resetData (bool clearWorkingMemory=false)
	resetData Clears all data More...

void	shutdownSimulationLoop ()
	stop the simulation and join the simulation thread More...

void	simulationLoop ()

SimulatedRobotState	stateFromRobotInfo (RobotInfo const &robot, IceUtil::Time timestamp)

bool	updateRobotTopics ()

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::map< std::string, std::vector< std::string > >	classInstanceMap
	Stores all instances that belong to a class. More...

std::string	commonStorageName

std::condition_variable	condSimulatorThreadRunning

std::string	contactLayerName

float	currentComTimeMS = 0
	Stores the time that was needed for communictaion. More...

float	currentSimTimeMS = 0
	Stores the time that was needed to perform the last simulation loop. More...

float	currentSyncTimeMS = 0
	stores the time that was needed to sync the data More...

memoryx::EntityDrawerInterfacePrx	entityDrawerPrx
	Drawing contacts. More...

memoryx::GridFileManagerPtr	fileManager

GlobalRobotPoseLocalizationListenerPrx	globalRobotLocalization

int	lastPublishedContacts = 0

memoryx::LongtermMemoryInterfacePrx	longtermMemoryPrx

memoryx::WorkingMemoryInterfacePrx	memoryPrx

ObjectFinder	objectFinder
	Constructed once based on the `ObjectPackage` property. More...

SimulatedWorldPtr	physicsWorld

std::string	priorKnowledgeName

memoryx::PriorKnowledgeInterfacePrx	priorKnowledgePrx

bool	publishContacts = false

PeriodicTask< Simulator >::pointer_type	reportDataTask
	The report data task. More...

bool	reportRobotPose = false

PeriodicTask< Simulator >::pointer_type	reportVisuTask
	The report visu task. More...

std::atomic< float >	reportVisuTimeMS = 0

PeriodicTask< Simulator >::pointer_type	simulationTask
	The sim task. More...

SimulatorResetEventPrx	simulatorResetEventTopic

std::mutex	simulatorRunningMutex

bool	simulatorThreadRunning = false

bool	simulatorThreadShutdown = false

SimulatorListenerInterfacePrx	simulatorVisuUpdateListenerPrx

SimulatorTimeServerProxyPtr	timeserverProxy
	Proxy object to offer the Timeserver proxy. More...

float	timeServerSpeed = 0
	Scaling factor for the passing of time. More...

TimeServerListenerPrx	timeTopicPrx

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Detailed Description

The Simulator class holds an instance of the AmrarXPhysicsWorld and communicates to ArmarX.

The following optional parameters can be used.

RobotFileName
Simox/VirtualRobot robot file name, e.g. robot_model.xml.
InitialRobotPose.x/y/z/roll/pitch/yaw
The initial pose of the robot
LogRobot
Default: false, If true, the complete robot state is logged to a file.
RobotControllerPID.p/i/d
Setup robot controllers: PID paramters
LongtermMemory.SnapshotName
Name of snapshot to load the scene
SceneFileName
Simox/VirtualRobot scene file name, e.g. myScene.xml. Usually, sceneas are loaded via MemoryX-snapshots, but in order to test a setup, a scene can be imported directly.
FloorPlane
Indicates if the should be created or not. Default: true.
FloorTexture
The texture file for the floor. By default, a standard texture is used
FixedTimeStepLoopNrSteps
The maximal number of internal simulation loops (fixed time step mode). After the maximum number of internal steps is performed, the simulator interpolates the remaining time.
FixedTimeStepStepTimeMS
The simulation's internal timestep (fixed time step mode)
ReportVisuFrequency
How often should the visualization data be published. Value is given in Hz. (0 to disable, default: 30)
ReportVisuTopicName
The topic on which the visualization updates are published. Default: ReportVisuTopicName
ReportDataFrequency
How often should the robot data be published. Value is given in Hz. (0 to disable, default: 30)

Definition at line 124 of file Simulator.h.

Constructor & Destructor Documentation

◆ Simulator()

Simulator ( )

Definition at line 235 of file Simulator.cpp.

◆ ~Simulator()

~Simulator ( )

override

Definition at line 252 of file Simulator.cpp.

Member Function Documentation

◆ activateObject()

void activateObject	(	const std::string &	objectName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1671 of file Simulator.cpp.

◆ actuateRobotJoints()

void actuateRobotJoints	(	const std::string &	robotName,
		const NameValueMap &	angles,
		const NameValueMap &	velocities,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1277 of file Simulator.cpp.

◆ actuateRobotJointsPos()

void actuateRobotJointsPos	(	const std::string &	robotName,
		const NameValueMap &	angles,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1286 of file Simulator.cpp.

◆ actuateRobotJointsTorque()

void actuateRobotJointsTorque	(	const std::string &	robotName,
		const NameValueMap &	torques,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1302 of file Simulator.cpp.

◆ actuateRobotJointsVel()

void actuateRobotJointsVel	(	const std::string &	robotName,
		const NameValueMap &	velocities,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1294 of file Simulator.cpp.

◆ addBox()

void addBox	(	float	width,
		float	height,
		float	depth,
		float	massKG,
		const DrawColor &	color,
		const std::string &	instanceName,
		const PoseBasePtr &	globalPose,
		bool	isStatic = `false`,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1515 of file Simulator.cpp.

Here is the call graph for this function:

◆ addObject()

void addObject	(	const memoryx::ObjectClassBasePtr &	objectClassBase,
		const std::string &	instanceName,
		const PoseBasePtr &	globalPose,
		bool	isStatic = `false`,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1365 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ addObjectFromFile()

void addObjectFromFile	(	const armarx::data::PackagePath &	packagePath,
		const std::string &	instanceName,
		const PoseBasePtr &	globalPose,
		bool	isStatic = `false`,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1442 of file Simulator.cpp.

Here is the call graph for this function:

◆ addRobot() [1/2]

std::string addRobot	(	const std::string &	filename,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2570 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ addRobot() [2/2]

std::string addRobot	(	std::string	robotInstanceName,
		const std::string &	robFileGlobal,
		Eigen::Matrix4f	gp,
		const std::string &	robFile,
		double	pid_p = `10.0`,
		double	pid_i = `0.0`,
		double	pid_d = `0.0`,
		bool	isStatic = `false`,
		float	scaling = `1`,
		bool	colModel = `false`,
		std::map< std::string, float >	initConfig = `std::map<std::string, float>()`,
		bool	selfCollisions = `false`
	)

protected

Returns the name. On failure an empty string is returned.

Definition at line 1990 of file Simulator.cpp.

Here is the call graph for this function:

◆ addRobotFromFile()

std::string addRobotFromFile	(	const armarx::data::PackagePath &	packagePath,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1966 of file Simulator.cpp.

Here is the call graph for this function:

◆ addScaledRobot()

std::string addScaledRobot	(	const std::string &	filename,
		float	scale,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2541 of file Simulator.cpp.

Here is the call graph for this function:

◆ addScaledRobotName()

std::string addScaledRobotName	(	const std::string &	instanceName,
		const std::string &	filename,
		float	scale,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2551 of file Simulator.cpp.

Here is the call graph for this function:

◆ addSnapshot()

bool addSnapshot ( memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx )

Definition at line 1089 of file Simulator.cpp.

Here is the call graph for this function:

◆ applyForceObject()

void applyForceObject	(	const std::string &	objectName,
		const Vector3BasePtr &	force,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1347 of file Simulator.cpp.

◆ applyForceRobotNode()

void applyForceRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	force,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1327 of file Simulator.cpp.

◆ applyTorqueObject()

void applyTorqueObject	(	const std::string &	objectName,
		const Vector3BasePtr &	torque,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1356 of file Simulator.cpp.

◆ applyTorqueRobotNode()

void applyTorqueRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	torque,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1337 of file Simulator.cpp.

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 285 of file Simulator.h.

Here is the call graph for this function:

◆ getContacts()

ContactInfoSequence getContacts ( const Ice::Current & c = Ice::emptyCurrent )

override

Returns a list of all contacts. Note that you must call updateContacts() first to enable contacts handling.

Definition at line 2518 of file Simulator.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Definition at line 258 of file Simulator.cpp.

◆ getDistance()

DistanceInfo getDistance	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	worldObjectName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2122 of file Simulator.cpp.

◆ getFixedTimeStepMS()

int getFixedTimeStepMS ( const Ice::Current & c = Ice::emptyCurrent )

override

Returns: The number of steps * the timestep in MS

Definition at line 1677 of file Simulator.cpp.

◆ getObjectClassPoses()

ObjectClassInformationSequence getObjectClassPoses	(	const std::string &	robotName,
		const std::string &	frameName,
		const std::string &	className,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2083 of file Simulator.cpp.

◆ getObjectPose()

PoseBasePtr getObjectPose	(	const std::string &	objectName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1851 of file Simulator.cpp.

◆ getRobotAngularVelocity()

Vector3BasePtr getRobotAngularVelocity	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1787 of file Simulator.cpp.

Here is the call graph for this function:

◆ getRobotForceTorqueSensors()

ForceTorqueDataSeq getRobotForceTorqueSensors	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1723 of file Simulator.cpp.

◆ getRobotJointAngle()

float getRobotJointAngle	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1695 of file Simulator.cpp.

◆ getRobotJointAngles()

NameValueMap getRobotJointAngles	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1689 of file Simulator.cpp.

◆ getRobotJointLimitHi()

float getRobotJointLimitHi	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1737 of file Simulator.cpp.

◆ getRobotJointLimitLo()

float getRobotJointLimitLo	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1729 of file Simulator.cpp.

◆ getRobotJointTorques()

NameValueMap getRobotJointTorques	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1717 of file Simulator.cpp.

◆ getRobotJointVelocities()

NameValueMap getRobotJointVelocities	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1703 of file Simulator.cpp.

◆ getRobotJointVelocity()

float getRobotJointVelocity	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1709 of file Simulator.cpp.

◆ getRobotLinearVelocity()

Vector3BasePtr getRobotLinearVelocity	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1778 of file Simulator.cpp.

Here is the call graph for this function:

◆ getRobotMass()

float getRobotMass	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1683 of file Simulator.cpp.

◆ getRobotMaxTorque()

float getRobotMaxTorque	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1752 of file Simulator.cpp.

◆ getRobotNames()

Ice::StringSeq getRobotNames ( const Ice::Current & )

override

Definition at line 1599 of file Simulator.cpp.

◆ getRobotNodeDistance()

DistanceInfo getRobotNodeDistance	(	const std::string &	robotName,
		const std::string &	robotNodeName1,
		const std::string &	robotNodeName2,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2131 of file Simulator.cpp.

◆ getRobotNodePose()

PoseBasePtr getRobotNodePose	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1769 of file Simulator.cpp.

◆ getRobotPose()

PoseBasePtr getRobotPose	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1745 of file Simulator.cpp.

◆ getRobotState()

SimulatedRobotState getRobotState	(	const std::string &	robotName,
		const Ice::Current &
	)

override

Definition at line 2580 of file Simulator.cpp.

◆ getScene()

SceneVisuData getScene ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 1884 of file Simulator.cpp.

◆ getSimTime()

float getSimTime ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 1878 of file Simulator.cpp.

Here is the caller graph for this function:

◆ getSimulatorInformation()

SimulatorInformation getSimulatorInformation ( const ::Ice::Current & = Ice::emptyCurrent )

override

Definition at line 1893 of file Simulator.cpp.

Here is the call graph for this function:

◆ getSpeed()

Ice::Float getSpeed ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 2256 of file Simulator.cpp.

◆ getStepTimeMS()

Ice::Int getStepTimeMS ( const ::Ice::Current & = Ice::emptyCurrent )

override

Definition at line 2262 of file Simulator.cpp.

◆ getTime()

Ice::Long getTime ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 2268 of file Simulator.cpp.

Here is the caller graph for this function:

◆ hasObject()

bool hasObject	(	const std::string &	instanceName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2176 of file Simulator.cpp.

Here is the caller graph for this function:

◆ hasRobot()

bool hasRobot	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1836 of file Simulator.cpp.

Here is the caller graph for this function:

◆ hasRobotNode()

bool hasRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1842 of file Simulator.cpp.

◆ initializeData()

void initializeData ( )

protected

Definition at line 806 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ isRunning()

bool isRunning ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 2311 of file Simulator.cpp.

◆ loadAgentsFromSnapshot()

bool loadAgentsFromSnapshot ( memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx )

Definition at line 1222 of file Simulator.cpp.

Here is the call graph for this function:

◆ objectGrasped()

void objectGrasped	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

create a joint

Definition at line 1868 of file Simulator.cpp.

◆ objectReleased()

void objectReleased	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

remove a joint

Definition at line 1858 of file Simulator.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 933 of file Simulator.cpp.

Here is the call graph for this function:

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from ManagedIceObject.

Definition at line 994 of file Simulator.cpp.

Here is the call graph for this function:

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

Definition at line 1014 of file Simulator.cpp.

Here is the call graph for this function:

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Definition at line 264 of file Simulator.cpp.

Here is the call graph for this function:

◆ pause()

void pause ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 2238 of file Simulator.cpp.

Here is the caller graph for this function:

◆ reInitialize()

void reInitialize ( const Ice::Current & c = Ice::emptyCurrent )

override

reInitialize Re-initializes the scene. Removes all robots and objects (and, in case the scene was loaded via a MemoryX snapshot, the working memory is cleared) Then, the setup is re-loaded similar to the startup procedure.

Definition at line 2167 of file Simulator.cpp.

Here is the call graph for this function:

◆ removeObject()

void removeObject	(	const std::string &	instanceName,
		const Ice::Current &
	)

override

Definition at line 1608 of file Simulator.cpp.

◆ removeRobot()

bool removeRobot	(	const std::string &	robotName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

Definition at line 2564 of file Simulator.cpp.

◆ reportDataLoop()

void reportDataLoop ( )

protected

Definition at line 2460 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ reportVisuLoop()

void reportVisuLoop ( )

protected

Definition at line 2317 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ requestFileManager()

memoryx::GridFileManagerPtr requestFileManager ( )

protected

Definition at line 905 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ resetData()

void resetData ( bool clearWorkingMemory = false )

protected

resetData Clears all data

Parameters

clearWorkingMemory If set, the working memory is also cleared.

Definition at line 1058 of file Simulator.cpp.

Here is the caller graph for this function:

◆ run()

void run ( )

override

Definition at line 2200 of file Simulator.cpp.

Here is the call graph for this function:

◆ setObjectPose()

void setObjectPose	(	const std::string &	objectName,
		const PoseBasePtr &	globalPose,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1638 of file Simulator.cpp.

◆ setObjectSimulationType()

void setObjectSimulationType	(	const std::string &	objectName,
		armarx::SimulationType	type,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1656 of file Simulator.cpp.

◆ setRobotAngularVelocity()

void setRobotAngularVelocity	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1806 of file Simulator.cpp.

◆ setRobotAngularVelocityRobotRootFrame()

void setRobotAngularVelocityRobotRootFrame	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1826 of file Simulator.cpp.

◆ setRobotLinearVelocity()

void setRobotLinearVelocity	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1796 of file Simulator.cpp.

◆ setRobotLinearVelocityRobotRootFrame()

void setRobotLinearVelocityRobotRootFrame	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1816 of file Simulator.cpp.

◆ setRobotMaxTorque()

void setRobotMaxTorque	(	const std::string &	robotName,
		const std::string &	nodeName,
		float	maxTorque,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1760 of file Simulator.cpp.

◆ setRobotPose()

void setRobotPose	(	const std::string &	robotName,
		const PoseBasePtr &	globalPose,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1310 of file Simulator.cpp.

◆ setSpeed()

void setSpeed	(	Ice::Float	newSpeed,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

setSpeed sets the scaling factor for the speed of passing of time e.g.

setSpeed(2) leads to 2 virtual seconds passing every 1 real second (provided the simulation is able to keep up)

Parameters

newSpeed new scaling factor for speed

Definition at line 2250 of file Simulator.cpp.

◆ showContacts()

void showContacts	(	bool	enable,
		const std::string &	layerName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 2140 of file Simulator.cpp.

◆ shutdownSimulationLoop()

void shutdownSimulationLoop ( )

protected

stop the simulation and join the simulation thread

Definition at line 1039 of file Simulator.cpp.

Here is the caller graph for this function:

◆ simulationLoop()

void simulationLoop ( )

protected

Definition at line 2077 of file Simulator.cpp.

Here is the call graph for this function:

◆ start()

void start ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 2182 of file Simulator.cpp.

Here is the caller graph for this function:

◆ stateFromRobotInfo()

SimulatedRobotState stateFromRobotInfo	(	RobotInfo const &	robot,
		IceUtil::Time	timestamp
	)

protected

Definition at line 874 of file Simulator.cpp.

Here is the caller graph for this function:

◆ step()

void step ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 2274 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stop()

void stop ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 2244 of file Simulator.cpp.

Here is the call graph for this function:

◆ updateContacts()

void updateContacts	(	bool	enable,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Enables the handling of contacts. If you intend to use getContacts(), call this method with enabled = true first.

Definition at line 2535 of file Simulator.cpp.

◆ updateRobotTopics()

bool updateRobotTopics ( )

protected

Definition at line 2036 of file Simulator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ classInstanceMap

std::map< std::string, std::vector< std::string > > classInstanceMap

protected

Stores all instances that belong to a class.

Definition at line 375 of file Simulator.h.

◆ commonStorageName

std::string commonStorageName

protected

Definition at line 357 of file Simulator.h.

◆ condSimulatorThreadRunning

std::condition_variable condSimulatorThreadRunning

protected

Definition at line 332 of file Simulator.h.

◆ contactLayerName

std::string contactLayerName

protected

Definition at line 370 of file Simulator.h.

◆ currentComTimeMS

float currentComTimeMS = 0

protected

Stores the time that was needed for communictaion.

Definition at line 338 of file Simulator.h.

◆ currentSimTimeMS

float currentSimTimeMS = 0

protected

Stores the time that was needed to perform the last simulation loop.

Definition at line 340 of file Simulator.h.

◆ currentSyncTimeMS

float currentSyncTimeMS = 0

protected

stores the time that was needed to sync the data

Definition at line 342 of file Simulator.h.

◆ entityDrawerPrx

memoryx::EntityDrawerInterfacePrx entityDrawerPrx

protected

Drawing contacts.

Definition at line 367 of file Simulator.h.

◆ fileManager

memoryx::GridFileManagerPtr fileManager

protected

Definition at line 361 of file Simulator.h.

◆ globalRobotLocalization

GlobalRobotPoseLocalizationListenerPrx globalRobotLocalization

protected

Definition at line 349 of file Simulator.h.

◆ lastPublishedContacts

int lastPublishedContacts = 0

protected

Definition at line 372 of file Simulator.h.

◆ longtermMemoryPrx

memoryx::LongtermMemoryInterfacePrx longtermMemoryPrx

protected

Definition at line 360 of file Simulator.h.

◆ memoryPrx

memoryx::WorkingMemoryInterfacePrx memoryPrx

protected

Definition at line 358 of file Simulator.h.

◆ objectFinder

ObjectFinder objectFinder

protected

Constructed once based on the ObjectPackage property.

Definition at line 364 of file Simulator.h.

◆ physicsWorld

SimulatedWorldPtr physicsWorld

protected

Definition at line 334 of file Simulator.h.

◆ priorKnowledgeName

std::string priorKnowledgeName

protected

Definition at line 356 of file Simulator.h.

◆ priorKnowledgePrx

memoryx::PriorKnowledgeInterfacePrx priorKnowledgePrx

protected

Definition at line 359 of file Simulator.h.

◆ publishContacts

bool publishContacts = false

protected

Definition at line 369 of file Simulator.h.

◆ reportDataTask

PeriodicTask<Simulator>::pointer_type reportDataTask

protected

The report data task.

Definition at line 326 of file Simulator.h.

◆ reportRobotPose

bool reportRobotPose = false

protected

Definition at line 350 of file Simulator.h.

◆ reportVisuTask

PeriodicTask<Simulator>::pointer_type reportVisuTask

protected

The report visu task.

Definition at line 324 of file Simulator.h.

◆ reportVisuTimeMS

std::atomic<float> reportVisuTimeMS = 0

protected

Definition at line 354 of file Simulator.h.

◆ simulationTask

PeriodicTask<Simulator>::pointer_type simulationTask

protected

The sim task.

Definition at line 322 of file Simulator.h.

◆ simulatorResetEventTopic

SimulatorResetEventPrx simulatorResetEventTopic

protected

Definition at line 383 of file Simulator.h.

◆ simulatorRunningMutex

std::mutex simulatorRunningMutex

protected

Definition at line 331 of file Simulator.h.

◆ simulatorThreadRunning

bool simulatorThreadRunning = false

protected

Definition at line 329 of file Simulator.h.

◆ simulatorThreadShutdown

bool simulatorThreadShutdown = false

protected

Definition at line 330 of file Simulator.h.

◆ simulatorVisuUpdateListenerPrx

SimulatorListenerInterfacePrx simulatorVisuUpdateListenerPrx

protected

Definition at line 352 of file Simulator.h.

◆ timeserverProxy

SimulatorTimeServerProxyPtr timeserverProxy

protected

Proxy object to offer the Timeserver proxy.

This is a hack to allow offering the proxies "Simulator" and "MasterTimeServer" at once

Definition at line 382 of file Simulator.h.

◆ timeServerSpeed

float timeServerSpeed = 0

protected

Scaling factor for the passing of time.

Definition at line 345 of file Simulator.h.

◆ timeTopicPrx

TimeServerListenerPrx timeTopicPrx

protected

Definition at line 347 of file Simulator.h.

The documentation for this class was generated from the following files:

ArmarXSimulation/components/Simulator/Simulator.h
ArmarXSimulation/components/Simulator/Simulator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Simulator()

◆ ~Simulator()

Member Function Documentation

◆ activateObject()

◆ actuateRobotJoints()

◆ actuateRobotJointsPos()

◆ actuateRobotJointsTorque()

◆ actuateRobotJointsVel()

◆ addBox()

◆ addObject()

◆ addObjectFromFile()

◆ addRobot() [1/2]

◆ addRobot() [2/2]

◆ addRobotFromFile()

◆ addScaledRobot()

◆ addScaledRobotName()

◆ addSnapshot()

◆ applyForceObject()

◆ applyForceRobotNode()

◆ applyTorqueObject()

◆ applyTorqueRobotNode()

◆ createPropertyDefinitions()

◆ getContacts()

◆ getDefaultName()

◆ getDistance()

◆ getFixedTimeStepMS()

◆ getObjectClassPoses()

◆ getObjectPose()

◆ getRobotAngularVelocity()

◆ getRobotForceTorqueSensors()

◆ getRobotJointAngle()

◆ getRobotJointAngles()

◆ getRobotJointLimitHi()

◆ getRobotJointLimitLo()

◆ getRobotJointTorques()

◆ getRobotJointVelocities()

◆ getRobotJointVelocity()

◆ getRobotLinearVelocity()

◆ getRobotMass()

◆ getRobotMaxTorque()

◆ getRobotNames()

◆ getRobotNodeDistance()

◆ getRobotNodePose()

◆ getRobotPose()

◆ getRobotState()

◆ getScene()

◆ getSimTime()

◆ getSimulatorInformation()

◆ getSpeed()

◆ getStepTimeMS()

◆ getTime()

◆ hasObject()

◆ hasRobot()

◆ hasRobotNode()

◆ initializeData()

◆ isRunning()

◆ loadAgentsFromSnapshot()

◆ objectGrasped()

◆ objectReleased()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ pause()

◆ reInitialize()

◆ removeObject()

◆ removeRobot()

◆ reportDataLoop()

◆ reportVisuLoop()

◆ requestFileManager()

◆ resetData()

◆ run()

◆ setObjectPose()

◆ setObjectSimulationType()